UAVCAN makes no explicit distinction between baremetal nodes running on dedicated hardware and applications running on general-purpose computers. What you are describing can already be achieved using PyUAVCAN, and later it will also be possible to do using libuavcan.
I am currently working on the proposal I mentioned earlier in a different thread here that should make the IPC capabilities of UAVCAN more discoverable to adopters. I should post an update here when it is ready.